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<div class="title">sparse_block_matrix.h</div>  </div>
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<a href="sparse__block__matrix_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SPARSE_BLOCK_MATRIX_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SPARSE_BLOCK_MATRIX_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;iomanip&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix__ccs_8h.html">sparse_block_matrix_ccs.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="matrix__structure_8h.html">matrix_structure.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="matrix__operations_8h.html">matrix_operations.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType = MatrixXd &gt;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html">   62</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a> {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">   66</a></span>&#160;    <span class="keyword">typedef</span> MatrixType <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">SparseMatrixBlock</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">   69</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">cols</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _colBlockIndices.size() ? _colBlockIndices.back() : 0;}</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">   71</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">rows</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rowBlockIndices.size() ? _rowBlockIndices.back() : 0;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">   73</a></span>&#160;    <span class="keyword">typedef</span> std::map&lt;int, SparseMatrixBlock*&gt; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">IntBlockMap</a>;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>( <span class="keyword">const</span> <span class="keywordtype">int</span> * rbi, <span class="keyword">const</span> <span class="keywordtype">int</span>* cbi, <span class="keywordtype">int</span> rb, <span class="keywordtype">int</span> cb, <span class="keywordtype">bool</span> hasStorage=<span class="keyword">true</span>);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    ~<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    </div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> clear(<span class="keywordtype">bool</span> dealloc=<span class="keyword">false</span>) ;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    SparseMatrixBlock* block(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c, <span class="keywordtype">bool</span> alloc=<span class="keyword">false</span>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keyword">const</span> SparseMatrixBlock* block(<span class="keywordtype">int</span> r, <span class="keywordtype">int</span> c) <span class="keyword">const</span>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a637d4a6d2d6f444be55a158497c8a07c">  102</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#a637d4a6d2d6f444be55a158497c8a07c">rowsOfBlock</a>(<span class="keywordtype">int</span> r)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> r ? _rowBlockIndices[r] - _rowBlockIndices[r-1] : _rowBlockIndices[0] ; }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">  105</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">colsOfBlock</a>(<span class="keywordtype">int</span> c)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> c ? _colBlockIndices[c] - _colBlockIndices[c-1] : _colBlockIndices[0]; }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">  108</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">rowBaseOfBlock</a>(<span class="keywordtype">int</span> r)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> r ? _rowBlockIndices[r-1] : 0 ; }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">  111</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">colBaseOfBlock</a>(<span class="keywordtype">int</span> c)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> c ? _colBlockIndices[c-1] : 0 ; }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">size_t</span> nonZeros() <span class="keyword">const</span>; </div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">size_t</span> nonZeroBlocks() <span class="keyword">const</span>; </div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>* clone() <span class="keyword">const</span> ;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>*  slice(<span class="keywordtype">int</span> rmin, <span class="keywordtype">int</span> rmax, <span class="keywordtype">int</span> cmin, <span class="keywordtype">int</span> cmax, <span class="keywordtype">bool</span> alloc=<span class="keyword">true</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixTransposedType&gt;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">bool</span> transpose(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixTransposedType&gt;</a>*&amp; dest) <span class="keyword">const</span>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">bool</span> add(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>*&amp; dest) <span class="keyword">const</span> ;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixResultType, <span class="keyword">class</span> MatrixFactorType&gt;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordtype">bool</span> multiply(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixResultType&gt;</a> *&amp; dest, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixFactorType&gt;</a>* M) <span class="keyword">const</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">void</span> multiply(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src) <span class="keyword">const</span>;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">void</span> multiplySymmetricUpperTriangle(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src) <span class="keyword">const</span>;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">void</span> rightMultiply(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src) <span class="keyword">const</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">void</span> scale( <span class="keywordtype">double</span> a);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">bool</span> symmPermutation(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixType&gt;</a>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">int</span>* pinv, <span class="keywordtype">bool</span> onlyUpper=<span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">int</span> fillCCS(<span class="keywordtype">int</span>* Cp, <span class="keywordtype">int</span>* Ci, <span class="keywordtype">double</span>* Cx, <span class="keywordtype">bool</span> upperTriangle = <span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">int</span> fillCCS(<span class="keywordtype">double</span>* Cx, <span class="keywordtype">bool</span> upperTriangle = <span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; 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   <span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#a4fff500693b46e4f62a2f828934d198c">rowBlockIndices</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _rowBlockIndices;}</div><div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a03a2cfdb856c2dac4875889d55ecda84">  183</a></span>&#160;    std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#a03a2cfdb856c2dac4875889d55ecda84">rowBlockIndices</a>() { <span class="keywordflow">return</span> _rowBlockIndices;}</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#a1dc1115273da4863f4625b1dc9569d89">  186</a></span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#a1dc1115273da4863f4625b1dc9569d89">colBlockIndices</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _colBlockIndices;}</div><div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aba255bdbb8e0a0d2802ae27e6d4f7cc7">  187</a></span>&#160;    std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aba255bdbb8e0a0d2802ae27e6d4f7cc7">colBlockIndices</a>() { <span class="keywordflow">return</span> _colBlockIndices;}</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordtype">bool</span> writeOctave(<span class="keyword">const</span> <span class="keywordtype">char</span>* filename, <span class="keywordtype">bool</span> upperTriangle = <span class="keyword">true</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">int</span> fillSparseBlockMatrixCCS(<a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html">SparseBlockMatrixCCS&lt;MatrixType&gt;</a>&amp; blockCCS) <span class="keyword">const</span>;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">int</span> fillSparseBlockMatrixCCSTransposed(<a class="code" href="classg2o_1_1_sparse_block_matrix_c_c_s.html">SparseBlockMatrixCCS&lt;MatrixType&gt;</a>&amp; blockCCS) <span class="keyword">const</span>;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">void</span> takePatternFromHash(<a class="code" href="classg2o_1_1_sparse_block_matrix_hash_map.html">SparseBlockMatrixHashMap&lt;MatrixType&gt;</a>&amp; hashMatrix);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">  214</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">_rowBlockIndices</a>; </div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">  215</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">_colBlockIndices</a>; </div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    std::vector &lt;IntBlockMap&gt; _blockCols;</div><div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">  219</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">_hasStorage</a>;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;};</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="keyword">template</span> &lt; <span class="keyword">class</span>  MatrixType &gt;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;std::ostream&amp; operator &lt;&lt; (std::ostream&amp;, const SparseBlockMatrix&lt;MatrixType&gt;&amp; m);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a268218b758e93d6d13f8d35a327a650a">  225</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a> <a class="code" href="namespaceg2o.html#a268218b758e93d6d13f8d35a327a650a">SparseBlockMatrixXd</a>;   </div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;} <span class="comment">//end namespace</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sparse__block__matrix_8hpp.html">sparse_block_matrix.hpp</a>&quot;</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aca008740c37d2d00b90f696ab19abb59"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aca008740c37d2d00b90f696ab19abb59">g2o::SparseBlockMatrix::_colBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; _colBlockIndices</div><div class="ttdoc">vector of the indices of the blocks along the cols </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:215</div></div>
<div class="ttc" id="sparse__block__matrix_8hpp_html"><div class="ttname"><a href="sparse__block__matrix_8hpp.html">sparse_block_matrix.hpp</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a4fff500693b46e4f62a2f828934d198c"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a4fff500693b46e4f62a2f828934d198c">g2o::SparseBlockMatrix::rowBlockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; rowBlockIndices() const</div><div class="ttdoc">indices of the row blocks </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:182</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a31236f3e11cb7af4979d68fdba3d5e33"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a31236f3e11cb7af4979d68fdba3d5e33">g2o::SparseBlockMatrix::blockCols</a></div><div class="ttdeci">std::vector&lt; IntBlockMap &gt; &amp; blockCols()</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:179</div></div>
<div class="ttc" id="sparse__block__matrix__ccs_8h_html"><div class="ttname"><a href="sparse__block__matrix__ccs_8h.html">sparse_block_matrix_ccs.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab818f8923b845d08a38e8de1145fbb65"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab818f8923b845d08a38e8de1145fbb65">g2o::SparseBlockMatrix::blockCols</a></div><div class="ttdeci">const std::vector&lt; IntBlockMap &gt; &amp; blockCols() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:178</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_hash_map_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_hash_map.html">g2o::SparseBlockMatrixHashMap</a></div><div class="ttdoc">Sparse matrix which uses blocks based on hash structures. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:215</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab0bd9c6d5b7b8704af1bc679032382e3"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab0bd9c6d5b7b8704af1bc679032382e3">g2o::SparseBlockMatrix::_rowBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; _rowBlockIndices</div><div class="ttdoc">vector of the indices of the blocks along the rows. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:214</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a502857f0a792ad37055964705a983590"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a502857f0a792ad37055964705a983590">g2o::SparseBlockMatrix::colBaseOfBlock</a></div><div class="ttdeci">int colBaseOfBlock(int c) const</div><div class="ttdoc">where does the col at block-col r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:111</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a03a2cfdb856c2dac4875889d55ecda84"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a03a2cfdb856c2dac4875889d55ecda84">g2o::SparseBlockMatrix::rowBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; &amp; rowBlockIndices()</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:183</div></div>
<div class="ttc" id="matrix__structure_8h_html"><div class="ttname"><a href="matrix__structure_8h.html">matrix_structure.h</a></div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a1dc1115273da4863f4625b1dc9569d89"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a1dc1115273da4863f4625b1dc9569d89">g2o::SparseBlockMatrix::colBlockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; colBlockIndices() const</div><div class="ttdoc">indices of the column blocks </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:186</div></div>
<div class="ttc" id="matrix__operations_8h_html"><div class="ttname"><a href="matrix__operations_8h.html">matrix_operations.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ab2f7376cbf055803fda6527dcc43e3be"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ab2f7376cbf055803fda6527dcc43e3be">g2o::SparseBlockMatrix::SparseMatrixBlock</a></div><div class="ttdeci">MatrixType SparseMatrixBlock</div><div class="ttdoc">this is the type of the elementary block, it is an Eigen::Matrix. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:66</div></div>
<div class="ttc" id="classg2o_1_1_matrix_structure_html"><div class="ttname"><a href="classg2o_1_1_matrix_structure.html">g2o::MatrixStructure</a></div><div class="ttdoc">representing the structure of a matrix in column compressed structure (only the upper triangular part...</div><div class="ttdef"><b>Definition:</b> matrix_structure.h:36</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaad7b1558369203795419345ee014852"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaad7b1558369203795419345ee014852">g2o::SparseBlockMatrix::rows</a></div><div class="ttdeci">int rows() const</div><div class="ttdoc">rows of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:71</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_a637d4a6d2d6f444be55a158497c8a07c"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#a637d4a6d2d6f444be55a158497c8a07c">g2o::SparseBlockMatrix::rowsOfBlock</a></div><div class="ttdeci">int rowsOfBlock(int r) const</div><div class="ttdoc">how many rows does the block at block-row r has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:102</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ac9dfcc991976a6c21dcbed961f06282d"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ac9dfcc991976a6c21dcbed961f06282d">g2o::SparseBlockMatrix::cols</a></div><div class="ttdeci">int cols() const</div><div class="ttdoc">columns of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:69</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_af718590d044a1b44e4079136c29efcd1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#af718590d044a1b44e4079136c29efcd1">g2o::SparseBlockMatrix::rowBaseOfBlock</a></div><div class="ttdeci">int rowBaseOfBlock(int r) const</div><div class="ttdoc">where does the row at block-row r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:108</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_ae3f063a5efc2708b41806ac361fd3ca6"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#ae3f063a5efc2708b41806ac361fd3ca6">g2o::SparseBlockMatrix::_hasStorage</a></div><div class="ttdeci">bool _hasStorage</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:219</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aaa6ca1ae454ed70f62992b6401645f4e"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aaa6ca1ae454ed70f62992b6401645f4e">g2o::SparseBlockMatrix::IntBlockMap</a></div><div class="ttdeci">std::map&lt; int, SparseMatrixBlock * &gt; IntBlockMap</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:73</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_afe3ef87aecd7a76eab27e91131dbe0c1"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#afe3ef87aecd7a76eab27e91131dbe0c1">g2o::SparseBlockMatrix::colsOfBlock</a></div><div class="ttdeci">int colsOfBlock(int c) const</div><div class="ttdoc">how many cols does the block at block-col c has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:105</div></div>
<div class="ttc" id="namespaceg2o_html_a268218b758e93d6d13f8d35a327a650a"><div class="ttname"><a href="namespaceg2o.html#a268218b758e93d6d13f8d35a327a650a">g2o::SparseBlockMatrixXd</a></div><div class="ttdeci">SparseBlockMatrix&lt; MatrixXd &gt; SparseBlockMatrixXd</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:225</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_c_c_s_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_c_c_s.html">g2o::SparseBlockMatrixCCS</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_ccs.h:53</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html_aba255bdbb8e0a0d2802ae27e6d4f7cc7"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html#aba255bdbb8e0a0d2802ae27e6d4f7cc7">g2o::SparseBlockMatrix::colBlockIndices</a></div><div class="ttdeci">std::vector&lt; int &gt; &amp; colBlockIndices()</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:187</div></div>
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